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lr_schedule=_optimizer.CosineDecaySchedule(
warmup_steps=100,
peak_lr=15e-5,
decay_steps=9_000,
decay_lr=5e-5,
),
num_train_steps=4000,
batch_size=64,
log_interval=100,
save_interval=100,
keep_period=500,
# LeRobot DataLoader can use workers; pick what your machine can handle
num_workers=16, |